US 12,265,395 B2
Automatic working system, automatic walking device, and method for controlling same, and computer-readable storage medium
Shaoming Zhu, Suzhou (CN); Xue Ren, Suzhou (CN); and Lichao Yuan, Suzhou (CN)
Assigned to Suzhou Cleva Precision Machinery & Technology Co., Ltd., Suzhou (CN)
Appl. No. 17/768,028
Filed by Suzhou Cleva Precision Machinery & Technology Co., Ltd., Suzhou (CN)
PCT Filed Aug. 17, 2020, PCT No. PCT/CN2020/109479
§ 371(c)(1), (2) Date Apr. 11, 2022,
PCT Pub. No. WO2021/184665, PCT Pub. Date Sep. 23, 2021.
Claims priority of application No. 202010198015.9 (CN), filed on Mar. 19, 2020.
Prior Publication US 2024/0094739 A1, Mar. 21, 2024
Int. Cl. G05D 1/00 (2024.01); A01D 34/00 (2006.01); G06T 7/11 (2017.01); A01D 101/00 (2006.01)
CPC G05D 1/0246 (2013.01) [A01D 34/008 (2013.01); G05D 1/0238 (2013.01); G05D 1/0255 (2013.01); G06T 7/11 (2017.01); A01D 2101/00 (2013.01); G06T 2207/20028 (2013.01); G06T 2207/30261 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A control method for a self-walking device, comprising:
acquiring a captured image;
processing the captured image to acquire a processed image;
segmenting the processed image into at least one sub-region;
calculating the size An of each sub-region, respectively;
counting the number of sub-regions with An>V in the processed image, and marking same as the number Nb of special sub-regions, wherein V is a preset quantity threshold;
if Nb≤1, judging that the captured image belongs to a lawn region; and
if Nb>1, judging that the captured image belongs to a non-complete lawn region,
whereby, based on the “judging” steps, the self-walking device operates within the lawn region and not within the non-complete lawn region.